Yes this should not be a problem. You would need to make sure that you tie enough output pins together so that the device can support the current that the motor will be sinking. Unless you are short on pins, I would recommend a minimum of 4 pins, allowing you to sink about 2A @ 500mA per output pin (from the datasheet). That way, even if there is some load you should be protected. Here is a similar application that shows two motors being driven, with each motor using two output pins.